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In this paper, we consider multi-agent consensus problems
in a decentralised fashion. The interconnection topology graph among
the agents is switching and undirected. The agent dynamics is
expressed in the form of a double integrator model. Two different
cases are considered in this study. One is the leader-following case
and the other is leaderless case. Based on graph theory and common
Lyapunov function method, some sufficient conditions are obtained
for the consensus stability of the considered systems with the
neighbour-based feedback laws in both leader-following case and
leaderless case respectively. Finally, two numerical examples are
given to illustrate the obtained results. 相似文献